+Unity Runtime codeHEADmaster

1 files changed, 142 insertions, 0 deletions

diff --git a/Runtime/Dynamics/WheelCollider.h b/Runtime/Dynamics/WheelCollider.h
new file mode 100644
index 0000000..53ddcaf
--- /dev/null
+++ b/Runtime/Dynamics/WheelCollider.h
@@ -0,0 +1,142 @@
+#ifndef WHEELCOLLIDER_H
+#define WHEELCOLLIDER_H
+
+#include "Collider.h"
+#include "Runtime/Math/Vector3.h"
+#include "JointDescriptions.h"
+
+class NxMaterial;
+
+// ----------------------------------------------------------------------
+
+struct WheelFrictionCurve
+{
+	float extremumSlip; ///<Extremum Slip. range { 0.001, infinity }
+	float extremumValue; ///<Extremum Value. range { 0.001, infinity }
+	float asymptoteSlip; ///<Asymptote Slip. range { 0.001, infinity }
+	float asymptoteValue; ///<Asymptote Value. range { 0.001, infinity }
+	float stiffnessFactor; ///<Stiffness Factor. range { 0, infinity }
+
+	bool operator != (const WheelFrictionCurve& c)const	
+	{ 
+		return extremumSlip != c.extremumSlip 
+			|| extremumValue != c.extremumValue
+			|| asymptoteSlip != c.asymptoteSlip
+			|| asymptoteValue != c.asymptoteValue
+			|| stiffnessFactor != c.stiffnessFactor
+		; 
+	}
+	
+	DECLARE_SERIALIZE_OPTIMIZE_TRANSFER (WheelFrictionCurve)
+};
+
+
+template<class TransferFunction>
+void WheelFrictionCurve::Transfer (TransferFunction& transfer)
+{
+	TRANSFER_SIMPLE( extremumSlip );
+	TRANSFER_SIMPLE( extremumValue );
+	TRANSFER_SIMPLE( asymptoteSlip );
+	TRANSFER_SIMPLE( asymptoteValue );
+	TRANSFER_SIMPLE( stiffnessFactor );
+}
+
+// ----------------------------------------------------------------------
+
+struct WheelHit
+{
+	Vector3f	point;
+	Vector3f	normal;
+	Vector3f	forwardDir;
+	Vector3f	sidewaysDir;
+	float		force;
+	float		forwardSlip;
+	float		sidewaysSlip;
+	Collider*	collider;
+};
+
+
+// ----------------------------------------------------------------------
+
+
+class WheelCollider : public Collider
+{
+public:	
+	REGISTER_DERIVED_CLASS (WheelCollider, Collider)
+	DECLARE_OBJECT_SERIALIZE (WheelCollider)
+	
+	WheelCollider(MemLabelId label, ObjectCreationMode mode);
+	
+	virtual void Reset();
+	virtual void SmartReset();
+	virtual void AwakeFromLoad(AwakeFromLoadMode mode);
+	
+	Vector3f GetCenter() const { return m_Center; }
+	void SetCenter( const Vector3f& center );
+
+	float GetRadius() const { return m_Radius; }
+	void SetRadius( float f );
+	
+	float GetSuspensionDistance() const { return m_SuspensionDistance; }
+	void SetSuspensionDistance( float f );
+
+	void SetSuspensionSpring( const JointSpring& spring );
+	const JointSpring& GetSuspensionSpring() const { return m_SuspensionSpring; }
+	
+	void SetForwardFriction( const WheelFrictionCurve& curve );
+	const WheelFrictionCurve& GetForwardFriction() const { return m_ForwardFriction; }
+	
+	void SetSidewaysFriction( const WheelFrictionCurve& curve );
+	const WheelFrictionCurve& GetSidewaysFriction() const { return m_SidewaysFriction; }
+	
+	float GetMass() const { return m_Mass; }
+	void SetMass( float f );
+
+	float GetMotorTorque() const;
+	void SetMotorTorque( float f );
+	
+	float GetBrakeTorque() const;
+	void SetBrakeTorque( float f );
+	
+	float GetSteerAngle() const;
+	void SetSteerAngle( float f );
+
+	bool IsGrounded() const;
+	bool GetGroundHit( WheelHit& hit ) const;
+	
+	float GetRpm() const;
+
+	void TransformChanged( int changeMask );
+
+	static void InitializeClass();
+	static void CleanupClass() { }
+
+	Vector3f GetGlobalCenter() const;
+	float GetGlobalRadius() const;
+	float GetGlobalSuspensionDistance() const;
+	Matrix4x4f CalculateTransform() const;
+
+	virtual bool SupportsMaterial () const { return false; }
+
+protected:
+	virtual void FetchPoseFromTransform();
+	virtual bool GetRelativeToParentPositionAndRotation( Transform& transform, Transform& anyParent, Matrix4x4f& matrix );
+
+	virtual void Create(const Rigidbody* ignoreRigidbody);
+	virtual void ScaleChanged();
+	virtual void Cleanup();
+
+private:
+	Vector3f		m_Center;
+	JointSpring		m_SuspensionSpring;
+	WheelFrictionCurve	m_ForwardFriction;
+	WheelFrictionCurve	m_SidewaysFriction;
+	float			m_Radius; ///< range { 0, infinity }
+	float			m_SuspensionDistance; ///< range { 0, infinity }
+	float			m_Mass; ///< range { 0.0001, infinity }
+
+	// the wheel material is shared by all instances
+	static NxMaterial*	m_WheelMaterial;
+};
+
+#endif